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This commit is contained in:
Xuchen Han
2019-09-03 15:04:12 -07:00
parent 8a08e32f51
commit 3d2f945f9c
2 changed files with 4 additions and 9 deletions
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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -109,6 +109,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif #endif
#define SKIP_DEFORMABE_BODY 1
int gInternalSimFlags = 0; int gInternalSimFlags = 0;
bool gResetSimulation = 0; bool gResetSimulation = 0;
@@ -1622,7 +1623,7 @@ struct PhysicsServerCommandProcessorInternalData
btHashedOverlappingPairCache* m_pairCache; btHashedOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase; btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher; btCollisionDispatcher* m_dispatcher;
#ifdef SKIP_DEFORMABLE_BODY #if defined (SKIP_DEFORMABLE_BODY) || defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
btMultiBodyConstraintSolver* m_solver; btMultiBodyConstraintSolver* m_solver;
#else #else
btDeformableMultiBodyConstraintSolver* m_solver; btDeformableMultiBodyConstraintSolver* m_solver;
@@ -2797,9 +2798,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{ {
btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i]; btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i];
#ifdef SKIP_DEFORMABLE_BODY
m_data->m_dynamicsWorld->removeSoftBody(sb); m_data->m_dynamicsWorld->removeSoftBody(sb);
#endif
delete sb; delete sb;
} }
#endif #endif
@@ -2870,7 +2869,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
delete m_data->m_remoteDebugDrawer; delete m_data->m_remoteDebugDrawer;
m_data->m_remoteDebugDrawer = 0; m_data->m_remoteDebugDrawer = 0;
#ifndef SKIP_DEFORMABLE_BODY #if !defined (SKIP_DEFORMABLE_BODY) && !defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
delete m_data->m_deformablebodySolver; delete m_data->m_deformablebodySolver;
m_data->m_deformablebodySolver = 0; m_data->m_deformablebodySolver = 0;
#endif #endif
@@ -8108,12 +8107,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
if (psb != NULL) if (psb != NULL)
{ {
#ifndef SKIP_DEFORMABLE_BODY #ifndef SKIP_DEFORMABLE_BODY
btVector3 gravity(0,0,0); btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
{ {
gravity[0] = loadSoftBodyArgs.m_gravity[0];
gravity[1] = loadSoftBodyArgs.m_gravity[1];
gravity[2] = loadSoftBodyArgs.m_gravity[2];
m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
} }
btScalar collision_hardness = 1; btScalar collision_hardness = 1;

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -523,7 +523,6 @@ struct LoadSoftBodyArgs
double m_springDampingStiffness; double m_springDampingStiffness;
double m_corotatedMu; double m_corotatedMu;
double m_corotatedLambda; double m_corotatedLambda;
double m_gravity[3];
bool m_useBendingSprings; bool m_useBendingSprings;
double m_collisionHardness; double m_collisionHardness;
double m_frictionCoeff; double m_frictionCoeff;